Electric power steering system and gain setting method thereof
US-2016280255-A1 · Sep 29, 2016 · US
Control device for machine apparatus and gain determination method for friction compensation
US10120396B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10120396-B2 |
| Application number | US-201515107308-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 20, 2015 |
| Priority date | Feb 21, 2014 |
| Publication date | Nov 6, 2018 |
| Grant date | Nov 6, 2018 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.
First claim
Opening claim text (preview).
The invention claimed is: 1. A control device for a machine apparatus, the device comprising: torque command calculation means for calculating a torque command for the machine apparatus; friction estimation means for calculating an estimated value of a friction force produced in the machine apparatus; adjustment means for calculating a corrected value by multiplying the estimated value calculated by the friction estimation means by a predetermined gain; and correction means for correcting the torque command calculated by the torque command calculation means using the corrected value calculated by the adjustment means, wherein the gain is determined on the basis of gain properties of a transfer function of the machine apparatus from a position command to a position deviation. 2. The control device for a machine apparatus according to claim 1 , wherein the gain is determined on the basis of an area that is surrounded by the gain properties of the transfer function in a low frequency region and a predetermined threshold. 3. The control device for a machine apparatus according to claim 2 , wherein the transfer function is derived by using linear analysis. 4. The control device for a machine apparatus according to claim 1 , wherein the transfer function is derived by using linear analysis. 5. A gain determination method for friction compensation used in a control device that calculates an estimated value of a friction force produced in a machine apparatus, calculates a corrected value by multiplying the calculated estimated value by a predetermined gain, and corrects a torque command for the machine apparatus using the corrected value, the method comprising: a step of deriving a transfer function of the machine apparatus from a position command to a position deviation; and a step of determining the gain on the basis of gain properties of the transfer function.
Assignees
Inventors
Classifications
characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title
- G05D17/02Primary
characterised by the use of electric means · CPC title
Speed loop, i.e. comparison of the motor speed with a speed reference · CPC title
electric · CPC title
not using a model or a simulator of the controlled system · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US10120396B2 cover?
- The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adj…
- Who is the assignee on this patent?
- Mitsubishi Heavy Ind Ltd
- What technology area does this patent fall under?
- Primary CPC classification G05D17/02. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Tue Nov 06 2018 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).